Learning Forward Models for the Operational Space Control of Redundant Robots

  title={Learning Forward Models for the Operational Space Control of Redundant Robots},
  author={Camille Sala{\"u}n and Vincent Padois and Olivier Sigaud},
  booktitle={From Motor Learning to Interaction Learning in Robots},
We present a control approach combining model incremental learning methods with the operational space control approach. We learn the forward kinematics model of a robot and use standard algebraic methods to extract pseudo-inverses and projectors from it. This combination endows the robot with the ability to realize hierarchically organised learned tasks in parallel, using tasks null space projectors built upon the learned models. We illustrate the proposed method on a simulated 3 degrees of… CONTINUE READING
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